Oh I definitely trust that your example works @Richard, I was just thinking that it may be beneficial to upgrade the Roomba control in ARC to help @todd85 out a bit on the graphical side of things.

And yes! DRDDDDDDDDeeeeezzzz Someone needs to build one, because I want several running around cleaning up after my kids

todd85 one more thing to consider is that sometimes the SCI will lock up and the only way to cure it is to either disconnect the battery momentarily or send the reset command "7" to the Roomba. Then try your program controls.

I'm working on a fritzing diagram of the connections tonight, I have to build something that looks like an EzB object though.

I will also like post the instructable this week and dig up the videos.

If Todd wants to email me directly I am game just please pm me here first.

I can certainly try to reset the Roomba, but I don't see how the port can be locked up when I can control the Roomba with the USB Serial cable that came with it and Roomba's example control program.

I'm certain I'm wiring to the correct pins. The only factor I have not tried changing is the type of servo cable. I've tried a number of different ones of the same cable, but all with the same result. Is there some particular gauge or type of wire that is needed? Here is a link to the one I'm using (with the middle red cable removed)
www.amazon.com/gp/product/B00J60ZEU6/ref=oh_aui_detailpage_o04_s01?ie=UTF8&psc=1

Again, I ask, is it normal for the EZ-B to lock up when sending a command to U5 port with no wire attached? It locks up every time and I need to power cycle the EZ-B to get it to respond to anything after it locks up. It seems to me I simply have a bad unit (which is brand new) and need to get a replacement.

Hi @todd85 maybe you can share your code and we can provide some insight. Are you doing a uartinit before writing uart data to D5?

This should work... Just a simple movement test

$speed_R=150

uartinit(0, 1, 115200) #Init UART port 1 on pin D5
sleep(1000)
uartWrite(0, 1,128,132) #Init the Roomba and place in full mode

sleep(1000)
uartWrite(0,1,137,0,$speed_R,128,0) # move forward slow
sleep(3000)
uartWrite(0,1,137,0,0,0,0) #stop Roomba

22gauge is expected but I don't think required.

I've used 24, 26, and 30 gauge wiring to make connection on the Roomba 7-pin mini din.